private void MainForm_Load(object sender, EventArgs e)
{
// load languages
for (int i = 0; i < CLanguages.Languages.Count; i++)
{
_languages_toolStripComboBox.Items.Add(CLanguages.Languages[i].Name);
}
_languages_toolStripComboBox.SelectedIndex = 0;
__tabControl.Enabled = false;
__tabControl.Visible = false;
refresh_com();
COMPortInfo.Refresh_Devices();
// debug 탭 설정
if (Properties.Settings.Default.DEBUG == false)
{
__tabControl.TabPages.RemoveAt(6);
}
COMPortInfo.OnComRefreshed += OnCOMRefresh;
CLanguages.SetLanguage(Properties.Settings.Default.CURRENTLANGUAGE);
set_language();
_languages_toolStripComboBox.SelectedIndex = Properties.Settings.Default.CURRENTLANGUAGE;
_skip_language = false;
}
static void Main()
{
CLanguages.SetLanguage(0);
Application.EnableVisualStyles();
Application.SetCompatibleTextRenderingDefault(false);
Application.Run(new MainForm());
}
private void __tabControl_SelectedIndexChanged(object sender, EventArgs e)
{
if (__tabControl.TabPages[__tabControl.SelectedIndex].Text == CLanguages.GetTranslate("PAGE_REPORTS_REPORTS"))
{
_com.SerialSend(ECMD.ROM_RAW);
}
}
private void __clearReportsCToolStripMenuItem_Click(object sender, EventArgs e)
{
if (MessageBox.Show(CLanguages.GetTranslate("MESSAGE_WARNING_REPORT_RESET").Replace("{0}", Environment.NewLine), CLanguages.GetTranslate("MESSAGE_ALERT"), MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.Yes)
{
_com.SerialSend(ECMD.ROM_RESET);
_com.SerialSend(ECMD.ROM_RAW);
}
}
public void set_language()
{
_modechannels_groupBox.Text = CLanguages.GetTranslate("PAGE_MODE_MODECHANNELS");
_mode1_label.Text = CLanguages.GetTranslate("PAGE_MODE_A");
_mode2_label.Text = CLanguages.GetTranslate("PAGE_MODE_B");
_mode3_label.Text = CLanguages.GetTranslate("PAGE_MODE_C");
_modeSetting_groupBox.Text = CLanguages.GetTranslate("PAGE_MODE_SETTING");
_mixMode_label.Text = CLanguages.GetTranslate("PAGE_MODE_MIX");
__default_button.Text = CLanguages.GetTranslate("PAGE_MODE_DEFAULT");
}
private void __reset_ToolStripMenuItem_Click(object sender, EventArgs e)
{
if (MessageBox.Show(CLanguages.GetTranslate("MESSAGE_WARNING_REPORT_RESET").Replace("{0}", Environment.NewLine), CLanguages.GetTranslate("MESSAGE_ALERT"), MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.Yes)
{
Communication.EEPROM.reset();
byte[] buf = Communication.EEPROM.encode();
_com.SerialSend(ECMD.EEPROM_SET, buf);
_com.SerialSend(ECMD.ROM_RESET);
_com.SerialSend(ECMD.EEPROM_RAW);
}
}
private void _languages_toolStripComboBox_SelectedIndexChanged(object sender, EventArgs e)
{
if (!_skip_language)
{
CLanguages.SetLanguage(_languages_toolStripComboBox.SelectedIndex);
set_language();
Properties.Settings.Default.CURRENTLANGUAGE = _languages_toolStripComboBox.SelectedIndex;
Properties.Settings.Default.Save();
}
}
public void set_language()
{
__install_groupBox.Text = CLanguages.GetTranslate("PAGE_MOUNT_NAME");
__fb_groupBox.Text = CLanguages.GetTranslate("PAGE_MOUNT_FRONTBACK");
__tb_groupBox.Text = CLanguages.GetTranslate("PAGE_MOUNT_TOPBOTTOM");
__backword_comboBox.Items.Clear();
__backword_comboBox.Items.Add(CLanguages.GetTranslate("PAGE_MOUNT_FRONT"));
__backword_comboBox.Items.Add(CLanguages.GetTranslate("PAGE_MOUNT_BACK"));
__reverse_comboBox.Items.Clear();
__reverse_comboBox.Items.Add(CLanguages.GetTranslate("PAGE_MOUNT_TOP"));
__reverse_comboBox.Items.Add(CLanguages.GetTranslate("PAGE_MOUNT_BOTTOM"));
}
public void set_language()
{
_channel_groupBox.Text = CLanguages.GetTranslate("PAGE_OUTPUT_CHANNEL");
_ich_default_button.Text = CLanguages.GetTranslate("PAGE_OUTPUT_DEFAULT");
_output_groupBox.Text = CLanguages.GetTranslate("PAGE_OTUPUT_OUTPUT");
_pulse_label.Text = CLanguages.GetTranslate("PAGE_OUTPUT_PULSE");
_min_label.Text = CLanguages.GetTranslate("PAGE_OUTPUT_MIN");
_max_label.Text = CLanguages.GetTranslate("PAGE_OUTPUT_MAX");
_center_label.Text = CLanguages.GetTranslate("PAGE_OUTPUT_CENTER");
_default_trim_button.Text = CLanguages.GetTranslate("PAGE_OUTPUT_DEFAULT");
//_save_button.Text = Languages.PAGE_OUTPUT_SAVE;
}
public void set_language()
{
_protocol_groupBox.Text = CLanguages.GetTranslate("PAGE_RADIO_PROTOCOL");
_hz_label.Text = CLanguages.GetTranslate("PAGE_RADIO_RADIOHZ");
_input_label.Text = CLanguages.GetTranslate("PAGE_RADIO_INPUTCHANNELS");
_calibration_groupBox.Text = CLanguages.GetTranslate("PAGE_RADIO_CALIBRATION");
_min_label.Text = CLanguages.GetTranslate("PAGE_RADIO_MIN");
_center_label.Text = CLanguages.GetTranslate("PAGE_RADIO_CENTER");
_max_label.Text = CLanguages.GetTranslate("PAGE_RADIO_MAX");
_default_button.Text = _ich_default_button.Text = CLanguages.GetTranslate("PAGE_RADIO_DEFAULT");
_save_radio_button.Text = CLanguages.GetTranslate("PAGE_RADIO_SAVE");
}
private void openToolStripMenuItem_Click(object sender, EventArgs e)
{
// eeprom load
OpenFileDialog ofd = new OpenFileDialog();
ofd.Filter = "CPM files | *.cpm";
ofd.DefaultExt = "cpm";
if (_com.IsOpen)
{
if (ofd.ShowDialog() == DialogResult.OK)
{
if (MessageBox.Show(CLanguages.GetTranslate(".MESSAGE_OVERWRITE_CPM"), "Custompilot", MessageBoxButtons.YesNo, MessageBoxIcon.Warning) == DialogResult.Yes)
{
Communication.EEPROM.decode(_file.LoadEEPROMDATA(ofd.FileName));
_com.SerialSend(ECMD.EEPROM_SET, Communication.EEPROM.encode());
}
}
}
}
private void __uC_TabFirmware_On_BootloaderUploadMode(object sender, EventArgs e)
{
firm_dowing();
_com.SerialStop();
if (__com_toolStripComboBox.SelectedIndex < 0)
{
MessageBox.Show(CLanguages.GetTranslate("MESSAGE_COM_SELECT"), CLanguages.GetTranslate("MESSAGE_ERROR"), MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else
{
try
{
__uC_TabFirmware.COMPORT = COMPortInfo.GetCOMPortsInfo()[__com_toolStripComboBox.SelectedIndex].Name;
__uC_TabFirmware.UploadFirmware();
}catch
{
MessageBox.Show("Please try again in a few minutes.", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
}
}
}
private void __uC_TabFirmware_On_BootloaderMode(object sender, EventArgs e)
{
firm_dowing();
_com.SerialStop();
if (__com_toolStripComboBox.SelectedIndex < 0)
{
MessageBox.Show(CLanguages.GetTranslate("MESSAGE_COM_SELECT"), CLanguages.GetTranslate("MESSAGE_ERROR"), MessageBoxButtons.OK, MessageBoxIcon.Error);
}
else
{
try {
__uC_TabFirmware.COMPORT = COMPortInfo.GetCOMPortsInfo()[__com_toolStripComboBox.SelectedIndex].Name;
__uC_TabFirmware.DownloadFirmware();
}
catch
{
Console.WriteLine("firmware down 올바른 com 포트가 없습니다.");
}
}
}
public void set_language()
{
_information_groupBox.Text = CLanguages.GetTranslate("PAGE_FIRM_INFORMATION");
_id_label.Text = CLanguages.GetTranslate("PAGE_FIRM_PRODUCTID");
_firmware_label.Text = CLanguages.GetTranslate("PAGE_FIRM_FIRMWARE");
//_name_label.Text = CLanguages.GetTranslate("PAGE_FIRM_NAME");
_firmwareBackup_groupBox.Text = CLanguages.GetTranslate("PAGE_FIRM_FIRMWAREBACKUP");
_file_label1.Text = CLanguages.GetTranslate("PAGE_FIRM_FILE");
_firmware_down_open_file_button.Text = CLanguages.GetTranslate("PAGE_FIRM_SAVE");
_ver_label1.Text = CLanguages.GetTranslate("PAGE_FIRM_VER");
_state_label1.Text = CLanguages.GetTranslate("PAGE_FIRM_STATE");
_firmware_dowload_button.Text = CLanguages.GetTranslate("PAGE_FIRM_DOWNLOAD");
_firmwareUpload_groupBox.Text = CLanguages.GetTranslate("PAGE_FIRM_FIRMWAREUPLOAD");
_file_label2.Text = CLanguages.GetTranslate("PAGE_FIRM_FILE");
_firmware_up_open_file_button.Text = CLanguages.GetTranslate("PAGE_FIRM_OPEN");
_ver_label2.Text = CLanguages.GetTranslate("PAGE_FIRM_VER");
_state_label2.Text = CLanguages.GetTranslate("PAGE_FIRM_STATE");
_firmware_upload_button.Text = CLanguages.GetTranslate("PAGE_FIRM_UPLOAD");
_console_groupBox.Text = CLanguages.GetTranslate("PAGE_FIRM_CONSOLE");
}
public About()
{
InitializeComponent();
this.Text = CLanguages.GetTranslate("FORM_ABOUT_CAPTION");
}
private void set_language()
{
// main menu
fileFToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_FILE");
__openToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_OPEN");
__saveOToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_SAVE");
__exitXToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_EXIT");
// setting menu
__settingSToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_SETTING");
imutoolStripMenuItem.Text = CLanguages.GetTranslate("MENU_IMU");
factoryreset_ToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_FACTORYRESET");
__IMUCalibrationToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_IMU_CAL");
// buttons
__connect_toolStripButton.Text = CLanguages.GetTranslate("MENU_CONNECT");
__firmver_toolStripLabel.Text = CLanguages.GetTranslate("MENU_FIRMWAREVER");
// menu help
__helpHToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_HELP");
__aboutAToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_HELP_ABOUT");
__onlineSupportToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_HELP_SUPPORT");
__installUSBDriverToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_HELP_DRIVER");
__tESTTToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_HELP_TEST");
// support
__supportToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_SUPPORT");
__userLanguageToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_USERLANGUAGE");
__productsToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_PRODUCTS");
__manualToolStripMenuItem.Text = CLanguages.GetTranslate("MENU_MANUAL");
__firmware1.Text = CLanguages.GetTranslate("MENU_SUPPORT_FIRMWARE1");
__firmware2.Text = CLanguages.GetTranslate("MENU_SUPPORT_FIRMWARE2");
__pCManager.Text = CLanguages.GetTranslate("MENU_SUPPORT_PCMANAGER");
// tabs
//__firmware_tabPage.Text = CLanguages.GetTranslate("TAB_FIRMWARE;
__radio_tabPage.Text = CLanguages.GetTranslate("TAB_RADIO");
__mode_tabPage.Text = CLanguages.GetTranslate("TAB_MODE");
_output_tabPage.Text = CLanguages.GetTranslate("TAB_OUTPUT");
__sensors_tabPage.Text = CLanguages.GetTranslate("TAB_SENSOR");
__reports_tabPage.Text = CLanguages.GetTranslate("TAB_REPORT");
__mount_tabPage.Text = CLanguages.GetTranslate("TAB_BOARD");
// firmware page set
__uC_TabFirmware.set_language();
// radio page set
_uC_RadioTab.set_language();
// mode page set
__uC_FlightModeWindow.set_language();
// output page set
_uC_ServoWindow.set_language();
// reports page set
__uC_Reports.set_language();
// mount page set
__uC_Mount.set_language();
}
private void __timer_serial_Tick(object sender, EventArgs e)
{
if (_com.IsOpen)
{
_com.Do_comm();
List <Serial.s_comstack> packets = _com.Recv();
if (packets != null)
{
foreach (Serial.s_comstack packet in packets)
{
switch (packet.cmd)
{
case ECMD.VERSION:
string version = string.Format("{0, 1:D1}.{1, 2:D2}.{2, 3:D3}", packet.data[0], packet.data[1], packet.data[2]);
__firmver_toolStripLabel.Text = "Firmware Ver: " + version;
__uC_TabFirmware.Version = version;
_com.SerialSend(ECMD.EEPROM_RAW);
_uC_RadioTab.setRadioSet(packet.data[1]);
break;
case ECMD.EEPROM_RAW:
_islockname = true;
Communication.EEPROM.decode(packet.data);
_uC_RadioTab.Decode_EEPROM();
_uC_ServoWindow.Decode_EEPROM();
__uC_FlightModeWindow.Decode_EEPROM();
__uC_TabFirmware.pid = Communication.EEPROM.plane.license.ToString();
_devicename__toolStripTextBox.Text = Encoding.Unicode.GetString(Communication.EEPROM.plane.name64).Trim();
__uC_Mount.Decode_EEPROM();
if (Communication.EEPROM.mpu.calibration.accs[2] == 0)
{
__uc_HUD.CalibrationWarning = true;
_isCalibrationWarning = true;
}
else
{
__uc_HUD.CalibrationWarning = false;
}
_islockname = false;
break;
case ECMD.RADIO_RAW:
_uC_RadioTab.Decode_radio(packet.data);
_uC_RadioTab.radio_hz = BitConverter.ToInt16(packet.data, 64);
_uC_RadioTab.radio_fhz = BitConverter.ToInt16(packet.data, 64 + 2);
if (packet.data[64 + 4] != 0)
{
_uC_RadioTab.IsFailsafe = true;
}
else
{
_uC_RadioTab.IsFailsafe = false;
}
if (packet.data[64 + 5] != 0)
{
_uC_RadioTab.IsNosignal = true;
_uC_ServoWindow.IsFailsafe = true;
}
else
{
_uC_RadioTab.IsNosignal = false;
_uC_ServoWindow.IsFailsafe = false;
}
break;
case ECMD.TMODE:
__uC_FlightModeWindow.Decode_raw(packet.data);
break;
case ECMD.LOOPTIME:
// parse looptime
___looptime_toolStripStatusLabel.Text = String.Format("Looptime: {0, 4:D3}", BitConverter.ToInt16(packet.data, 0));
if (_isCalibrationWarning && _isCalibrationWarning_flashing)
{
__ypr_toolStripStatusLabel.Text = "Calibration Warning!!!";
_isCalibrationWarning_flashing = false;
__ypr_toolStripStatusLabel.BackColor = Color.Red;
}
else
{
__ypr_toolStripStatusLabel.Text = String.Format("ypr:{0, 6:F1}{1, 6:F1}{2, 6:F1}", BitConverter.ToSingle(packet.data, 2), BitConverter.ToSingle(packet.data, 6), BitConverter.ToSingle(packet.data, 10));
__ypr_toolStripStatusLabel.BackColor = this.BackColor;
_isCalibrationWarning_flashing = true;
}
if (packet.data.Length > 14)
{
double voltage = ((float)(UInt16)packet.data[28]) / 10.0;
if (voltage < 4.5)
{
___vcc_toolStripStatusLabel.BackColor = Color.Red;
}
else
{
___vcc_toolStripStatusLabel.BackColor = this.BackColor;
}
___vcc_toolStripStatusLabel.Text = String.Format("VCC: {0, 3:F1}", voltage);
UInt16 temp = ((UInt16)packet.data[29]);
___temp_toolStripStatusLabel.Text = String.Format("temp: {0, 2:D2} ℃", temp);
if (temp > 70)
{
___temp_toolStripStatusLabel.BackColor = Color.Orange;
}
else if (temp > 85)
{
___temp_toolStripStatusLabel.BackColor = Color.Red;
}
else
{
___temp_toolStripStatusLabel.BackColor = this.BackColor;
}
UInt16 error_count = BitConverter.ToUInt16(packet.data, 26);
if (error_count > 0)
{
___err_toolStripStatusLabel.BackColor = Color.Red;
}
else
{
___err_toolStripStatusLabel.BackColor = this.BackColor;
}
___err_toolStripStatusLabel.Text = String.Format("err: {0, 5:D1}", error_count);
ushort wdt = (ushort)packet.data[30];
ushort reports = (ushort)packet.data[31];
if (wdt > 0)
{
___report_toolStripStatusLabel.BackColor = Color.Red;
}
else if (reports > 0)
{
___report_toolStripStatusLabel.BackColor = Color.Orange;
}
else
{
___report_toolStripStatusLabel.BackColor = this.BackColor;
}
___report_toolStripStatusLabel.Text = String.Format("Reports: {0, 5:D1}", reports + wdt);
if (packet.data.Length > 30)
{
___gforce_toolStripStatusLabel.Text = String.Format("G:{0, 6:F1}{1, 6:F1}{2, 6:F1}", BitConverter.ToSingle(packet.data, 14), BitConverter.ToSingle(packet.data, 18), BitConverter.ToSingle(packet.data, 22));
}
}
__uc_HUD.Roll = 360 - (BitConverter.ToSingle(packet.data, 2) - 180);
__uc_HUD.Pitch = BitConverter.ToSingle(packet.data, 6) - 180;
__uc_HUD.Heading = BitConverter.ToSingle(packet.data, 10) - 180;
__uc_HUD.Draw();
break;
case ECMD.SERVO_RAW:
_uC_ServoWindow.Decode_Servos(packet.data);
if (packet.data[24] != 0)
{
_uC_ServoWindow.IsFailsafe = true;
}
else
{
_uC_ServoWindow.IsFailsafe = false;
}
break;
case ECMD.ERROR:
Console.WriteLine("Error packet received.");
break;
case ECMD.ROM_RAW:
__uC_Reports.DecodeData(packet.data);
break;
}
}
}
if (__connect_toolStripButton.Text == CLanguages.GetTranslate("MENU_CONNECT"))
{
// com 연결 됨
__refresh_toolStripButton.Enabled = false;
__connect_toolStripButton.Text = CLanguages.GetTranslate("MENU_DISCONNECT");
__tabControl.Enabled = true;
__tabControl.Visible = true;
__uC_TabFirmware.Visible = false;
__uC_TabFirmware.IsConnected = true;
__com_toolStripComboBox.Enabled = false;
Properties.Settings.Default.LASTCOMDEVICE = __com_toolStripComboBox.Text;
Properties.Settings.Default.Save();
__settingSToolStripMenuItem.Enabled = true;
__openToolStripMenuItem.Enabled = true;
__saveOToolStripMenuItem.Enabled = true;
_devicename__toolStripTextBox.Enabled = true;
//tabpage_enabled(true);
}
else
{
// 2. 현재 탭 정보 요구 0.2초 마다 버젼 정보를 받아온 경우만,,,
TimeSpan span = DateTime.Now - _preTime;
if (span.TotalMilliseconds >= _chktime)
{
//return;
_preTime = DateTime.Now;
// 현재탭 확인
if (__tabControl.SelectedTab.Text == CLanguages.GetTranslate("TAB_RADIO"))
{
// Radio calibration
_com.SerialSend(ECMD.RADIO_RAW);
}
else if (__tabControl.SelectedTab.Text == CLanguages.GetTranslate("TAB_OUTPUT"))
{
_com.SerialSend(ECMD.SERVO_RAW);
}
else if (__tabControl.SelectedTab.Text == CLanguages.GetTranslate("TAB_MODE"))
{
_com.SerialSend(ECMD.TMODE);
}
}
span = DateTime.Now - _preTime_1s;
if (span.TotalMilliseconds >= 200)
{
if (Communication.EEPROM.plane.initialized == Communication.Initializecode)
{
_preTime_1s = DateTime.Now;
_com.SerialSend(ECMD.LOOPTIME);
_chktime = 200;
}
else
{
// 초기화 안됨
}
}
}
}
else
{
if (__connect_toolStripButton.Text == CLanguages.GetTranslate("MENU_DISCONNECT"))
{
// com 끊김
__refresh_toolStripButton.Enabled = true;
__connect_toolStripButton.Text = CLanguages.GetTranslate("MENU_CONNECT");
__connect_toolStripButton.Enabled = true;
__tabControl.SelectedTab = __tabControl.TabPages[0];
__com_toolStripComboBox.Enabled = true;
__firmver_toolStripLabel.Text = "Firmware Ver. ";
__uC_TabFirmware.IsConnected = false;
__uC_TabFirmware.Visible = true;
__settingSToolStripMenuItem.Enabled = false;
_devicename__toolStripTextBox.Enabled = false;
__tabControl.Enabled = false;
__tabControl.Visible = false;
__openToolStripMenuItem.Enabled = false;
__saveOToolStripMenuItem.Enabled = false;
}
}
// imu 캘리브레이션 체크
TimeSpan sp = DateTime.Now - _imuCalc;
if (sp.TotalSeconds > 0 && sp.TotalSeconds < 2)
{
_imuCalc = DateTime.Now.AddMinutes(-1);
_com.SerialSend(ECMD.EEPROM_RAW);
}
}
public void set_language()
{
_reports_groupBox.Text = CLanguages.GetTranslate("PAGE_REPORTS_REPORTS");
__export_button.Text = CLanguages.GetTranslate("PAGE_REPORTS_EXPORT");
___reset_button.Text = CLanguages.GetTranslate("PAGE_REPORTS_RESET");
}
